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Motion terrain determination method and device, robot and readable storage medium

A determination method and robot technology, applied in manipulators, program-controlled manipulators, joints, etc., can solve the problems of poor identification accuracy and low efficiency of dynamic parameters, and achieve the effect of improving efficiency, accurate dynamic parameters, and improving accuracy.

Pending Publication Date: 2022-03-11
UBTECH ROBOTICS CORP LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The existing dynamic parameter identification methods generally regard the existing environmental terrain as the motion terrain of the mobile robot, ignoring the influence of the motion terrain on the accuracy of dynamic parameter identification, resulting in poor accuracy and low efficiency of dynamic parameter identification

Method used

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  • Motion terrain determination method and device, robot and readable storage medium
  • Motion terrain determination method and device, robot and readable storage medium
  • Motion terrain determination method and device, robot and readable storage medium

Examples

Experimental program
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Embodiment 1

[0058] See figure 1 , an embodiment of the present application, proposes a method for determining motion terrain, the method includes the following steps S100-S300:

[0059] Step S100, determining each sine parameter and each cosine parameter corresponding to the target joint according to the constraints.

[0060] It should be noted that the constraints include: at least one of terrain constraints, movement speed constraints of the robot's base coordinate system, robot center-of-mass position constraints, and Fourier-related constraints.

[0061] Among them, terrain constraints include: the target position coordinates of the robot’s base coordinate system are within the preset calibration range, the change rate of the target position coordinates is within the preset position change rate range, and the target attitude angle coordinates of the robot’s base coordinate system are within At least one of within the preset angle range and the change rate of the target attitude angul...

Embodiment 2

[0101] See Image 6 , another embodiment of the present application proposes a motion terrain determination device 10 , which includes: a parameter determination module 11 , a trajectory determination module 12 and a terrain determination module 13 .

[0102] The parameter determination module 11 is used to determine each sine parameter corresponding to the target joint and each cosine parameter corresponding to the target joint according to the constraints; the trajectory determination module 12 is used to determine each sine parameter corresponding to the target joint and the target The cosine parameters corresponding to the joints determine the trajectory of the robot; the terrain determination module 13 is configured to determine the terrain of the robot according to the trajectory.

[0103] In this embodiment, the motion terrain determination device 10 is used in conjunction with the parameter determination module 11, the trajectory determination module 12, and the terrai...

Embodiment 3

[0105] See Figure 7 , the third embodiment of the present application proposes a robot 100, including a memory 110 and a processor 120, the memory 110 stores a computer program, and the computer program executes the implementation of the present application when running on the processor 120 The motion terrain determination method described in the example.

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Abstract

The invention discloses a motion terrain determination method and device, a robot and a readable storage medium. The method comprises the steps that sine parameters and cosine parameters corresponding to a target joint are determined according to constraint conditions; determining a motion track of the robot according to each sine parameter corresponding to the target joint and each cosine parameter corresponding to the target joint; and the motion terrain of the robot is determined according to the motion trail. The optimal motion terrain can be obtained, when the kinetic parameters of the robot are determined, the robot is controlled to move on the motion terrain determined by the embodiment, the obtained kinetic parameters are more accurate, and the kinetic parameter identification efficiency can be effectively improved.

Description

technical field [0001] The invention relates to the field of automatic identification of dynamic parameters of mobile robots, in particular to a method, device, robot and readable storage medium for determining motion terrain. Background technique [0002] With the rapid development of multi-degree-of-freedom mobile robots (eg, freely movable humanoid robots, robot dogs, etc.), mobile robots are widely used in various fields such as medical care, education, and industry. In the external force estimation and motion control of mobile robots, it is very important to obtain accurate dynamic parameters of mobile robots. The accuracy and rapidity of dynamic parameter identification are not only related to the selected parameter identification model and estimation method, but also have a great relationship with the motion terrain of parameter identification. [0003] The existing dynamic parameter identification methods generally regard the existing environmental terrain as the mo...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J17/02
CPCB25J9/1664B25J9/1661B25J9/1679B25J17/02G05B2219/40298G05B2219/40264B25J19/02
Inventor 任晓雨黄荔群谭欢熊友军
Owner UBTECH ROBOTICS CORP LTD